/*
 * CruiseLocationTool.h
 *
 *  Created on: 2017年5月23日
 *      Author: roswiki
 */

#ifndef KATRINA_GUI_INCLUDE_KATRINA_GUI_CRUISELOCATIONTOOL_H_
#define KATRINA_GUI_INCLUDE_KATRINA_GUI_CRUISELOCATIONTOOL_H_

# include <QObject>
# include <ros/ros.h>
# include "rviz/default_plugin/tools/pose_tool.h"
#include <QInputDialog>

using namespace rviz;

namespace Katrina
{
    class Arrow;
    class DisplayContext;
    class StringProperty;

    class CruiseLocationTool : public PoseTool
    {
        Q_OBJECT
        public:
            CruiseLocationTool();
            virtual void onInitialize();

        protected:
            virtual void onPoseSet(double x, double y, double theta);

        private Q_SLOTS:
            void updateTopic();

        private:
            ros::NodeHandle nh_;
            ros::Publisher pub_;
    };

}

#endif /* KATRINA_GUI_INCLUDE_KATRINA_GUI_CRUISELOCATIONTOOL_H_ */
